3. Safety
MiR1000 Quick start (en) 06/2020 - v.1.2 ©Copyright 2019-2020: Mobile Industrial Robots A/S.
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Collision avoidance
The collision avoidance safety function ensures that the robot will come to a stop before it
collides with a human or object.
The function measures the speed on the two driving wheels and switches between the
predefined protective fields accordingly. The faster the speed, the larger the protective
fields will be.
This ensures that the robot will be brought to a stop in case a human or object is detected
within the active protective field.
Collision avoidance is automatically deactivated two seconds after the protective field is
free.
Safe load position
The safe load position safety function ensures that the robot will not drive, while MiR1000
Pallet Lift or MiR1000 EU Pallet Lift is not in the lowest position and hence there is a risk of
compromising stability.
The safe load position safety system consists of interlock switches that detect if the lift
modules are in the lowest position or not.
The input can be used for a customized top module/manipulator when a MiR1000 Pallet Lift
or MiR1000 EU Pallet Lift is not installed.
The safe load position safety function must be manually deactivated by activation of the
restart button.
Overspeed avoidance
The safety system monitors if the speed of each motor is above limits for maximum rated
speed and hence an indication of speed control is lost for any reason.
The overspeed avoidance safety function must be manually deactivated by activation of the
restart button.
Stability
The safety system monitors if the speed difference between the two motors are above
predefined limits and hence an indication of speed control is lost for any reason.
The stability safety function must be manually deactivated by activation of the restart
button.